Device for measuring the velocity of a body in an undersea environment

ABSTRACT

A hollow, projectile-shaped body containing an acoustical transducer is  rased into the sea such that the body descends in free fall until it strikes and penetrates the sea floor, coming to a rest therein. Acoustic signals emanating from the acoustic transducer are processed utilizing the doppler effect to generate a direct current analog signal which is the function of the velocity of the body from a time immediately preceding the body striking the sea floor surface until the body comes to rest in the sea floor, thereby obtaining an indication of the physical characteristics of the sea floor.

This is a division of application Ser. No. 621,714 filed Oct. 14, 1975,now U.S. Pat. No. 4,007,633.

BACKGROUND OF THE INVENTION

1. Field of the Invention

This invention relates generally to penetrometers and more specificallyto such penetrometers utilizing the doppler effect.

2. Description of the Prior Art

Penetrometers have been used for years to gather technical informationconcerning sea floor characteristics. Prior art instrumentation utilizedaccelerometers, signal conditioning equipment, amplifiers and recorderswhich were packaged in single atmosphere enclosures attached to theaccelerometer. The cost of the instrumentation was high and it wasnecessary to recover the penetrometer and instrumentation package. Thiswas done by attaching a load bearing cable to the vehicle to recover itafter completion of its mission. This cable, capable of pulling thevehicle from the ocean bottom, produced drag as the vehicle fell towardthe bottom which reduced its terminal velocity, thereby restricting itsusefulness. Tape recorders, due to the high gravity forces encounteredduring deceleration are not capable of properly recording the data.

Another prior art method used the same costly instrumentation attachedto an expendable penetrometer. Electrical analogs of the desiredparameters are transmitted over a very small cable consisting of severalwires. The breaking strength of this cable is 1/2 pound. It is spooledon two spools; one riding the vehicle and the other on the surface ship,both paying out cable simultaneously. Its success depended on theintegrity (physical and electrical) of the spool cable. Electrically,the cable is basically a low pass distributed, constant,resistance-capacitance filter undesirable for the purpose oftransmitting information from the penetrometer to the surface. Failureoccurred due to breakage of the conductors in the environment.

SUMMARY OF THE INVENTION

The present invention is a method of determining the physicalcharacteristics of a sea floor. One embodiment of the present inventionutilizes an acoustical transmitter contained in a free fallingpenetrometer to transduce and transmit an electrical analog of thedesired physical parameters of a sea floor to a surface receiver. Byutilizing the heterodyne principle, the acoustic signal received fromthe acoustic transmitter translates the physical dynamics of thepenetrometer as it penetrates the sea floor to an electrical analog ofthis data which, together with an appropriate time base, may be recordedon a magnetic tape, thus providing a permanent record of the desireddynamics of the penetrometer from a time immediately preceding thestriking of the sea floor surface until the penetrometer comes to restin the sea floor.

Accordingly, one object of the present invention is to provide a methodof determining the physical characteristics of a sea floor.

Another object of the present invention is to provide both physical andelectrical integrity.

A still further object of the present invention is to reduce cost whileincreasing efficiency.

One other object of the present invention is to increase reliability.

Other objects and a more complete appreciation of the present inventionand its many attendant advantages will develop as the same becomesbetter understood by reference to the following detailed descriptionwhen considered in connection with the accompanying drawings in whichlike reference numerals designate like parts throughout the figuresthereof and wherein.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a side elevation illustrating one embodiment of the presentinvention.

FIG. 2 is a schematic of the electrical acoustic signal processingequipment in one embodiment of the present invention.

FIG. 3 is a schematic of the heterodyne receiver contained in thecircuitry of FIG. 2.

FIG. 4 is a side elevation of a second embodiment of the presentinvention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

FIG. 1 illustrates a projectile or penetrometer 10. Projectile 10 has anelongated body 12 of a known specific size, weight and shape. Whenreleased into the sea, body 12 falls freely. Its terminal velocity whilein free fall as well as in other physical dynamics are known.

Body 12 contains body cavity 14. Attached to the end of body 12 is finassembly 16. Fin assembly 16 contains four fins for stabilizing body 12while body 12 is descending toward the sea floor.

Contained in body 12 is acoustic amplifier and battery power supplysection 18 and acoustic transducer 20. Acoustic transducer 20 emits aconstant frequency signal, e.g., 12 Kilohertz. Acoustic transducer 20 isdisposed such that the acoustic signal emitted therefrom is directedupward toward the sea surface.

The projectile or penetrometer 10 is released near the surface of thesea and descends in free fall toward the sea floor. Upon striking thesea floor, the penetrometer 10 will penetrate into the sea floor andcome to a rest therein.

The method of this invention utilizes the doppler principle to transducethe dynamic physical parameters of the sea floor from an apparent ordoppler frequency shift. Penetrometer 10 in free fall carrys thetransducer 20 away from a receiver located near the sea surface at anever increasing rate until a terminal velocity has been reached. Theapparent or doppler frequency shift which, in this case is negative withreference to 12 KHz, now will remain a constant until penetrometer 10strikes the sea floor and begins to slow in velocity. As thepenetrometer begins to slow in velocity, the apparent or dopplerfrequency shift is now in a positive direction toward 12 KHz, and whenthe vehicle comes to rest, the received frequency will be 12 KHz.

Now turning to FIG. 2, signal processing equipment 22 is illustrated inschematic form. Acoustic transducer 20, located within hollow body 12,transmits a 12 KHz signal through the sea to heterodyne receiver 24. Ofcourse, the signal received by receiver 24 is less than 12 KHz due tothe doppler shift, as explained supra.

Heterodyne receiver 24 outputs a heterodyned signal on lines 26 and 28.Heterodyne receiver 24 has a bandwidth of approximately 11,500 Hz to12,500 Hz. It is noted that the specific frequencies disclosed hereinare for the purpose of illustrating Applicant's invention and are notintended as the only or most desirable frequencies available. Theheterodyned signal on lines 26 and 28 is between 4.5 KHz and 4.8 KHz infrequency. The heterodyned signal on line 26 is directed to taperecorder 32. The heterodyned signal on line 28 inputs discriminator 30.

Discriminator 30 is a frequency-modulated discriminator having a centerfrequency of approximately 4.8 KHz whose output on line 34 is a directcurrent analog of the velocity, either positive or negative, orpenetrometer 10. The direct current analog signal on line 34 is filteredvia filter 36 and passed via line 38 to tape recorder 32.

Also, inputting tape recorder 32 is time scale generator 40.

Now turning to FIG. 3, heterodyne receiver 24 is shown in greaterdetail. Hydrophone 50 receives the acoustic signal transmitted fromacousitc transducer 20 located in penetrometer 10. The signal fromhydrophone 50 inputs amplifier 52 on line 54. The output of amplifier 52inputs mixer 56 via line 58. Also, inputting mixer 56 on line 57 is alocal oscillator signal from local oscillator 60. The A-C signal fromlocal oscillator 60 has a specific frequency, f₀, e.g., 7.2 KHz. Theoutput of mixer 56 on line 62 is a signal containing the sum anddifference of the received signal on line 58 and the local oscillatorsignal f₀. A signal on line 62 is filtered in this case to eliminate thesummed frequency by filter 64. The filter output signal on line 66 isthen amplified by amplifier 68. Amplifier 68 has outputs 26 and 28corresponding to outputs 26 and 28 of FIG. 2. Assuming, for example,that acoustic transducer 20 outputs a 12 KHz signal, local oscillatorsignal f₀ can be set at approximately 7.2 KHz, thereby causing an A-Csignal of approximately 4.8 KHz to appear on lines 26 and 28. Of course,even though acoustic transducer 20 outputs a constant 12 KHz signal, dueto the doppler effect the signal received by hydrophone 50 will be lessthan 12 KHz, as explained supra.

Assuming the received signal from acoustic transducer 20 is exactly 12KHz, then the signal on line 66 will be 4,800 Hz. Discriminator 30 has acenter frequency of approximately 4,800 Hz with a bandwidth ofapproximately 250 Hz on either side of the center frequency. Thus,heterodyne receiver 24 lowers the frequency of the information signal,thus providing greater sensitivity to the signal transmitted to taperecorder 32 via line 38 since the discriminator has only a 250 Hzbandwidth on either side of its center frequency.

Now turning to FIG. 4, penetrometer 10 is illustrated showing a furtherembodiment of the present invention. Penetrometer 10 is comprised ofelongated body 12 having a hollow body cavity 14 therein. Fin assembly16 is disposed near the rear of body 12. Contained in body 12 areacoustic amplifier and battery power supply section 18 and acoustictransducer 20. Located near nose section 80 of body 12 is impeller 82which is attached to shaft 84. Shaft 84 extends from inside body cavity14 to outside body cavity 14 where shaft 84 is rigidly affixed toimpeller 82. Shaft 84 rotates with respect to body 12 about bearings 86.Shaft 84 mechanically inputs tachometer 88. Tachometer 88 outputs a DCsignal which is functionally related to the rotation of impeller 82 astransmitted to tachometer 88 via shaft 84. The DC signal output fromtachometer 88 inputs voltage control oscillator 90 via line 92. Voltagecontrol oscillator 90 outputs an AC signal to acoustic amplifier 18. Ofcourse, the frequency of the signal from voltage control oscillator 90varies with the DC level of the signal inputting voltage controloscillator 90 on line 92. Thus, the frequency of the acoustical signaltransmitted into the water by acoustic transducer 20 is functionallyrelated to the speed of rotation of propeller 82, thereby giving anindication of the speed of body 12 through the water since the speed ofrotation of impeller 82 is functionally related to the speed of body 12through the sea.

It will be appreciated by those having ordinary skill in the art thatthe complete circuit diagram of FIGS. 2 and 3 includes such suitable andnecessary calibration as is usually provided in such circuits, and thepenetrometers of FIGS. 1 and 4 include such suitable and necessarywater-proofing means as is usually provided in such devices.

Obviously numerous modifications and variations of the present inventionare possible in light of the above teachings. It is therefore to beunderstood that within the scope of the appended claims the inventionmay be practiced otherwise than as specifically described herein.

What is claimed is:
 1. An undersea apparatus for generating anacoustical a-c signal whose frequency is a function of said apparatusvelocity in an undersea environment comprising:a. a hollow projectileshaped body having a nose thereon, said body containing an acoustictransducer; b. an impeller rigidly affixed to a shaft, said impellerbeing disposed outside said body, said shaft extending from inside saidbody through said body nose to said impeller, said shaft rotating withrespect to said body, said impeller having a speed of rotationfunctionally related to the speed of said body in the water; c. meansconnected to said shaft for generating a direct-current signal whoseamplitude is functionally related to the speed of rotation of saidimpeller, said means being located inside said body; d. avoltage-controlled oscillator connected to receive said direct-currentsignal and generate an a-c signal whose frequency is functionallyrelated to the amplitude of said direct-current signal, said a-c signaldriving said acoustic transducer, said oscillator located inside saidbody.
 2. The apparatus of claim 1 wherein said generating means includesa tachometer.